Merge branch 'isaac-sim:main' into main

.aws/postmerge-ci-buildspec.yml

@@ -34,7 +34,7 @@ phases:
         docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
         docker build -t $IMAGE_NAME:$COMBINED_TAG \
           --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
-          --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+          --build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
           --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
           --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
           --build-arg DOCKER_USER_HOME_ARG=/root \

.aws/premerge-ci-buildspec.yml

@@ -69,7 +69,7 @@ phases:
           cd $SRC_DIR
           DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \
             --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
-            --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+            --build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
             --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
             --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
             --build-arg DOCKER_USER_HOME_ARG=/root \

.vscode/tools/settings.template.json

@@ -1,4 +1,9 @@
 {
+    "files.exclude": {
+        "**/.mypy_cache": true,
+        "**/__pycache__": true,
+        "**/*.egg-info": true
+    },
     "files.associations": {
         "*.tpp": "cpp",
         "*.kit": "toml",

CONTRIBUTORS.md

@@ -63,6 +63,7 @@ Guidelines for modifications:
 * Rosario Scalise
 * Shafeef Omar
 * Vladimir Fokow
+* Wei Yang
 * Xavier Nal
 * Yang Jin
 * Zhengyu Zhang

docker/cluster/cluster_interface.sh

@@ -62,11 +62,9 @@ submit_job() {
 
     case $CLUSTER_JOB_SCHEDULER in
         "SLURM")
-            CMD=sbatch
             job_script_file=submit_job_slurm.sh
             ;;
         "PBS")
-            CMD=bash
             job_script_file=submit_job_pbs.sh
             ;;
         *)
@@ -75,7 +73,7 @@ submit_job() {
             ;;
     esac
 
-    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && $CMD $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
+    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && bash $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
 }
 
 #==
@@ -162,11 +160,17 @@ case $command in
         scp $SCRIPT_DIR/exports/isaac-lab-$profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/isaac-lab-$profile.tar
         ;;
     job)
-        [ $# -ge 1 ] && profile=$1 && shift
+        if [ $# -ge 1 ]; then
+            passed_profile=$1
+            if [ -f ".env.$passed_profile" ]; then
+                profile=$passed_profile
+                shift
+            fi
+        fi
         job_args="$@"
-        echo "Executing job command"
-        [ -n "$profile" ] && echo "Using profile: $profile"
-        [ -n "$job_args" ] && echo "Job arguments: $job_args"
+        echo "[INFO] Executing job command"
+        [ -n "$profile" ] && echo -e "\tUsing profile: $profile"
+        [ -n "$job_args" ] && echo -e "\tJob arguments: $job_args"
         source $SCRIPT_DIR/.env.cluster
         # Get current date and time
         current_datetime=$(date +"%Y%m%d_%H%M%S")

docs/source/refs/troubleshooting.rst

@@ -35,6 +35,26 @@ In the above example, the log file is located at ``.../logs/Kit/Isaac-Sim/2023.1
 You can open this file to check the internal logs from the simulator. Also when reporting issues, please include
 this log file to help us debug the issue.
 
+Changing logging channel levels for the simulator
+-------------------------------------------------
+
+By default, the simulator logs messages at the ``WARN`` level and above on the terminal. You can change the logging
+channel levels to get more detailed logs. The logging channel levels can be set through Omniverse's logging system.
+
+To obtain more detailed logs, you can run your application with the following flags:
+
+* ``--info``: This flag logs messages at the ``INFO`` level and above.
+* ``--verbose``: This flag logs messages at the ``VERBOSE`` level and above.
+
+For instance, to run a standalone script with verbose logging, you can use the following command:
+
+.. code-block:: bash
+
+    # Run the standalone script with info logging
+    ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py --headless --info
+
+For more fine-grained control, you can modify the logging channels through the ``omni.log`` module.
+For more information, please refer to its `documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html>`__.
 
 Using CPU Scaling Governor for performance
 ------------------------------------------

source/apps/isaaclab.python.headless.kit

@@ -34,6 +34,10 @@ renderer.active = "rtx"
 
 app.content.emptyStageOnStart = false
 
+# Disable print outs on extension startup information
+# this only disables the app print_and_log function
+app.enableStdoutOutput = false
+
 # Setting the port for the embedded http server
 exts."omni.services.transport.server.http".port = 8211
 

source/apps/isaaclab.python.kit

@@ -124,6 +124,10 @@ exts."omni.kit.menu.utils".logDeprecated = false
 # app.content.emptyStageOnStart = false
 app.file.ignoreUnsavedOnExit = true # prevents save dialog when exiting
 
+# disable print outs on extension startup information
+# this only disables the app print_and_log function
+app.enableStdoutOutput = false
+
 # deprecate support for old kit.ui.menu
 app.menu.legacy_mode = false
 # use omni.ui.Menu for the MenuBar
@@ -137,6 +141,9 @@ exts."omni.kit.window.viewport".blockingGetViewportDrawable = false
 
 exts."omni.kit.test".includeTests = [ "*isaac*" ]
 
+# set the default ros bridge to disable on startup
+isaac.startup.ros_bridge_extension = ""
+
 [settings.app.python]
 # These disable the kit app from also printing out python output, which gets confusing
 interceptSysStdOutput = false

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -254,7 +254,12 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None:
         arg_group.add_argument(
             "--verbose",  # Note: This is read by SimulationApp through sys.argv
             action="store_true",
-            help="Enable verbose terminal output from the SimulationApp.",
+            help="Enable verbose-level log output from the SimulationApp.",
+        )
+        arg_group.add_argument(
+            "--info",  # Note: This is read by SimulationApp through sys.argv
+            action="store_true",
+            help="Enable info-level log output from the SimulationApp.",
         )
         arg_group.add_argument(
             "--experience",
@@ -552,6 +557,8 @@ def _config_resolution(self, launcher_args: dict):
                 " The file does not exist."
             )
 
+        # Resolve the absolute path of the experience file
+        self._sim_experience_file = os.path.abspath(self._sim_experience_file)
         print(f"[INFO][AppLauncher]: Loading experience file: {self._sim_experience_file}")
         # Remove all values from input keyword args which are not meant for SimulationApp
         # Assign all the passed settings to a dictionary for the simulation app
@@ -572,8 +579,16 @@ def _create_app(self):
         for key in found_modules:
             hacked_modules[key] = sys.modules[key]
             del sys.modules[key]
+
+        # disable sys stdout and stderr to avoid printing the warning messages
+        # this is mainly done to purge the print statements from the simulation app
+        if "--verbose" not in sys.argv and "--info" not in sys.argv:
+            sys.stdout = open(os.devnull, "w")  # noqa: SIM115
         # launch simulation app
         self._app = SimulationApp(self._sim_app_config, experience=self._sim_experience_file)
+        # enable sys stdout and stderr
+        sys.stdout = sys.__stdout__
+
         # add Isaac Lab modules back to sys.modules
         for key, value in hacked_modules.items():
             sys.modules[key] = value

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -13,8 +13,8 @@
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import carb
 import omni.isaac.core.utils.stage as stage_utils
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from omni.isaac.core.utils.types import ArticulationActions
 from pxr import PhysxSchema, UsdPhysics
@@ -542,7 +542,7 @@ def write_joint_limits_to_sim(
         # update default joint pos to stay within the new limits
         if torch.any((self._data.default_joint_pos < limits[..., 0]) | (self._data.default_joint_pos > limits[..., 1])):
             self._data.default_joint_pos = torch.clamp(self._data.default_joint_pos, limits[..., 0], limits[..., 1])
-            carb.log_warn(
+            omni.log.warn(
                 "Some default joint positions are outside of the range of the new joint limits. Default joint positions"
                 " will be clamped to be within the new joint limits."
             )
@@ -925,13 +925,13 @@ def _initialize_impl(self):
             raise RuntimeError(f"Failed to create articulation at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the articulation
-        carb.log_info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        carb.log_info(f"Is fixed root: {self.is_fixed_base}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
-        carb.log_info(f"Body names: {self.body_names}")
-        carb.log_info(f"Number of joints: {self.num_joints}")
-        carb.log_info(f"Joint names: {self.joint_names}")
-        carb.log_info(f"Number of fixed tendons: {self.num_fixed_tendons}")
+        omni.log.info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
+        omni.log.info(f"Is fixed root: {self.is_fixed_base}")
+        omni.log.info(f"Number of bodies: {self.num_bodies}")
+        omni.log.info(f"Body names: {self.body_names}")
+        omni.log.info(f"Number of joints: {self.num_joints}")
+        omni.log.info(f"Joint names: {self.joint_names}")
+        omni.log.info(f"Number of fixed tendons: {self.num_fixed_tendons}")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)
@@ -1142,7 +1142,7 @@ def _process_actuators_cfg(self):
                 velocity_limit=usd_velocity_limit[:, joint_ids],
             )
             # log information on actuator groups
-            carb.log_info(
+            omni.log.info(
                 f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}' and"
                 f" joint names: {joint_names} [{joint_ids}]."
             )
@@ -1177,7 +1177,7 @@ def _process_actuators_cfg(self):
         # perform some sanity checks to ensure actuators are prepared correctly
         total_act_joints = sum(actuator.num_joints for actuator in self.actuators.values())
         if total_act_joints != (self.num_joints - self.num_fixed_tendons):
-            carb.log_warn(
+            omni.log.warn(
                 "Not all actuators are configured! Total number of actuated joints not equal to number of"
                 f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
@@ -1336,7 +1336,7 @@ def _log_articulation_joint_info(self):
                 effort_limits[index],
             ])
         # convert table to string
-        carb.log_info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
+        omni.log.info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
 
         # read out all tendon parameters from simulation
         if self.num_fixed_tendons > 0:
@@ -1372,4 +1372,4 @@ def _log_articulation_joint_info(self):
                     ft_offsets[index],
                 ])
             # convert table to string
-            carb.log_info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())
+            omni.log.info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/deformable_object/deformable_object.py

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import PhysxSchema, UsdShade
 
@@ -305,7 +305,7 @@ def _initialize_impl(self):
                         material_prim = mat_prim
                         break
         if material_prim is None:
-            carb.log_info(
+            omni.log.info(
                 f"Failed to find a deformable material binding for '{root_prim.GetPath().pathString}'."
                 " The material properties will be set to default values and are not modifiable at runtime."
                 " If you want to modify the material properties, please ensure that the material is bound"
@@ -341,14 +341,14 @@ def _initialize_impl(self):
             self._material_physx_view = None
 
         # log information about the deformable body
-        carb.log_info(f"Deformable body initialized at: {root_prim_path_expr}")
-        carb.log_info(f"Number of instances: {self.num_instances}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
+        omni.log.info(f"Deformable body initialized at: {root_prim_path_expr}")
+        omni.log.info(f"Number of instances: {self.num_instances}")
+        omni.log.info(f"Number of bodies: {self.num_bodies}")
         if self._material_physx_view is not None:
-            carb.log_info(f"Deformable material initialized at: {material_prim_path_expr}")
-            carb.log_info(f"Number of instances: {self._material_physx_view.count}")
+            omni.log.info(f"Deformable material initialized at: {material_prim_path_expr}")
+            omni.log.info(f"Number of instances: {self._material_physx_view.count}")
         else:
-            carb.log_info("No deformable material found. Material properties will be set to default values.")
+            omni.log.info("No deformable material found. Material properties will be set to default values.")
 
         # container for data access
         self._data = DeformableObjectData(self.root_physx_view, self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import UsdPhysics
 
@@ -299,10 +299,10 @@ def _initialize_impl(self):
             raise RuntimeError(f"Failed to create rigid body at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the rigid body
-        carb.log_info(f"Rigid body initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        carb.log_info(f"Number of instances: {self.num_instances}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
-        carb.log_info(f"Body names: {self.body_names}")
+        omni.log.info(f"Rigid body initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
+        omni.log.info(f"Number of instances: {self.num_instances}")
+        omni.log.info(f"Number of bodies: {self.num_bodies}")
+        omni.log.info(f"Body names: {self.body_names}")
 
         # container for data access
         self._data = RigidObjectData(self.root_physx_view, self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py

@@ -16,9 +16,9 @@
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
+import omni.log
 from omni.isaac.version import get_version
 
 from omni.isaac.lab.managers import EventManager
@@ -83,7 +83,7 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -105,7 +105,7 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -16,9 +16,9 @@
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
+import omni.log
 from omni.isaac.version import get_version
 
 from omni.isaac.lab.managers import EventManager
@@ -88,7 +88,7 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -110,7 +110,7 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -8,8 +8,8 @@
 from collections.abc import Sequence
 from typing import Any
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
+import omni.log
 
 from omni.isaac.lab.managers import ActionManager, EventManager, ObservationManager
 from omni.isaac.lab.scene import InteractiveScene
@@ -78,7 +78,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -106,7 +106,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step. "
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # counter for simulation steps
         self._sim_step_counter = 0